wheelchair code for driver assitance

Dependencies:   mbed

Fork of wheelchairalexa by ryan lin

Committer:
ryanlin97
Date:
Tue Jul 17 07:19:04 2018 +0000
Revision:
5:e0ccaab3959a
Parent:
3:a5e71bfdb492
Child:
6:0cd57bdd8fbc
imu added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #include "wheelchair.h"
ryanlin97 0:fc0c4a184482 2
ryanlin97 3:a5e71bfdb492 3 AnalogIn x(A0);
ryanlin97 3:a5e71bfdb492 4 AnalogIn y(A1);
ryanlin97 3:a5e71bfdb492 5
ryanlin97 0:fc0c4a184482 6 DigitalOut off(D0);
ryanlin97 0:fc0c4a184482 7 DigitalOut on(D1);
ryanlin97 0:fc0c4a184482 8 DigitalOut up(D2);
ryanlin97 0:fc0c4a184482 9 DigitalOut down(D3);
ryanlin97 2:c2d049efc266 10
ryanlin97 2:c2d049efc266 11 Wheelchair smart(xDir,yDir);
ryanlin97 2:c2d049efc266 12
ryanlin97 0:fc0c4a184482 13 int main(void)
ryanlin97 0:fc0c4a184482 14 {
ryanlin97 0:fc0c4a184482 15 on = 1;
ryanlin97 2:c2d049efc266 16 while(1){
ryanlin97 3:a5e71bfdb492 17 /* if( pc.readable()) {
ryanlin97 2:c2d049efc266 18 char c = pc.getc();
ryanlin97 2:c2d049efc266 19 if( c == 'w') {
ryanlin97 2:c2d049efc266 20 pc.printf("up \n");
ryanlin97 2:c2d049efc266 21 smart.forward();
ryanlin97 0:fc0c4a184482 22 }
ryanlin97 2:c2d049efc266 23
ryanlin97 2:c2d049efc266 24 else if( c == 'd') {
ryanlin97 2:c2d049efc266 25 pc.printf("left \n");
ryanlin97 2:c2d049efc266 26 smart.left();
ryanlin97 0:fc0c4a184482 27 }
ryanlin97 2:c2d049efc266 28
ryanlin97 2:c2d049efc266 29 else if( c == 'a') {
ryanlin97 2:c2d049efc266 30 pc.printf("right \n");
ryanlin97 2:c2d049efc266 31 smart.right();
ryanlin97 0:fc0c4a184482 32 }
ryanlin97 2:c2d049efc266 33
ryanlin97 2:c2d049efc266 34 else if( c == 's') {
ryanlin97 2:c2d049efc266 35 pc.printf("down \n");
ryanlin97 2:c2d049efc266 36 smart.backward();
ryanlin97 0:fc0c4a184482 37 }
ryanlin97 2:c2d049efc266 38
ryanlin97 2:c2d049efc266 39 else {
ryanlin97 2:c2d049efc266 40 pc.printf("none \n");
ryanlin97 2:c2d049efc266 41 smart.stop();
ryanlin97 2:c2d049efc266 42 if( c == 'o') {
ryanlin97 2:c2d049efc266 43 pc.printf("turning on");
ryanlin97 2:c2d049efc266 44 on = 0;
ryanlin97 2:c2d049efc266 45 wait(process);
ryanlin97 2:c2d049efc266 46 on = 1;
ryanlin97 0:fc0c4a184482 47 }
ryanlin97 2:c2d049efc266 48
ryanlin97 2:c2d049efc266 49 else if( c == 'k') {
ryanlin97 2:c2d049efc266 50 off = 0;
ryanlin97 2:c2d049efc266 51 wait(process);
ryanlin97 2:c2d049efc266 52 off = 1;
ryanlin97 0:fc0c4a184482 53 }
ryanlin97 2:c2d049efc266 54
ryanlin97 2:c2d049efc266 55 else if( c == 'u') {
ryanlin97 2:c2d049efc266 56 up = 0;
ryanlin97 2:c2d049efc266 57 wait(process);
ryanlin97 2:c2d049efc266 58 up = 1;
ryanlin97 0:fc0c4a184482 59 }
ryanlin97 2:c2d049efc266 60
ryanlin97 2:c2d049efc266 61 else if( c == 'p') {
ryanlin97 2:c2d049efc266 62 down = 0;
ryanlin97 2:c2d049efc266 63 wait(process);
ryanlin97 2:c2d049efc266 64 down = 1;
ryanlin97 0:fc0c4a184482 65 }
ryanlin97 0:fc0c4a184482 66 }
ryanlin97 2:c2d049efc266 67 }
ryanlin97 2:c2d049efc266 68
ryanlin97 2:c2d049efc266 69 else {
ryanlin97 2:c2d049efc266 70 pc.printf("Nothing pressed \n");
ryanlin97 2:c2d049efc266 71 smart.stop();
ryanlin97 2:c2d049efc266 72 }
ryanlin97 3:a5e71bfdb492 73 */
ryanlin97 3:a5e71bfdb492 74 smart.move(x,y);
ryanlin97 2:c2d049efc266 75 wait(process);
ryanlin97 2:c2d049efc266 76 }
ryanlin97 1:c0beadca1617 77
ryanlin97 0:fc0c4a184482 78 }
ryanlin97 0:fc0c4a184482 79